Safe Robot Manipulation

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13 papers0 papers in the last four weeks, down 100% on the four weeks before. 0.0% of all new papers.

Coding Agents with Harness for Safe Robot Control
Sep 17, 2026Bingxin Xu, Yuzhang Shang, Zhen Dong +1Robot Safety Robotic Manipulation
USC · UCF · UCSB
Runtime Safety Filtering for Two-Terminal Hazards in Robotic Battery Recycling
Sep 17, 2026Yuxin Cao, Wei Song, Xianglin Yang +4Robot Safety Safety Filtering
National University of Singapore, Singapore · Griffith University, Australia · UNSW Canberra, Australia +2
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation
Aug 29, 2026Wenhao Hong, Lan Wei, Dandan ZhangSafe Robot Manipulation Language-Conditioned Robot Manipulation
Imperial College London, London, UK
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects
Jul 5, 2026Bowen Jing, Mingxin Wang, Ruiyang Hao +15Tactile Sensing Robotics Simulation
Tuojing Intelligence · Tsinghua University · King’s College London +10
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
Jun 30, 2026Arnav Balaji, Arpit Bahety, Sriniket Ambatipudi +3Robotics Simulation Robot Safety
The University of Texas at Austin
SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models
May 30, 2026Jialiang Fan, Weizhe Xu, Zijun Wang +3Robot Safety Robotic Manipulation
University of Notre Dame · University of Pennsylvania
GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation
May 29, 2026Beichen Shao, Mengying Xie, Heng Su +5Generalization in Robotic Manipulation Robotic Manipulation
College of Computer Science, Chongqing University, Chongqing, China · Lumos Robotics, China · Xi’an Jiaotong-Liverpool University, China +2
Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
May 20, 2026Albert Wu, Riccardo Bonalli, Thomas Lew +1Robotic Control Constrained Motion Planning
Computer Science Department, Stanford University, Stanford, CA 94305, USA. · Laboratory of Signals and Systems, University of Paris-Saclay, CNRS, CentraleSup´elec, France. · Toyota Research Institute, Los Altos, CA 94022, USA.
SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
May 12, 2026Chengyue Huang, Khang Vo Huynh, Mellon M. Zhang +3Robot Safety Robotic Manipulation
Department of Machine Learning, Georgia Institute of Technology · Department of Computer Science, University of Virginia
ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
Mar 14, 2026Xinyu Jia, Wenxin Wang, Jun Yang +2Safe Robot Manipulation Robotic Manipulation
Department of Biomedical Engineering, National University of Singapore, Singapore 117583 · Peng Cheng Laboratory, Shenzhen 518057, China · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Mar 10, 2026Jiayun Li, Yufeng Jin, Sangli Teng +2Safe Robot Manipulation Trajectory Optimization
Department of Computer Science, TU Darmstadt, Darmstadt, Germany. · Hessian.AI, Darmstadt, Germany. · Honda Research Institute Europe GmbH, Offenbach, Germany. +1
Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
Mar 5, 2026Dian Yu, Qingchuan Zhou, Bingkun Huang +2Robotic Manipulation Vision-Language-Action Models
Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), 80992 Munich, Germany
Multimodal Adversarial Quality Policy for Safe Grasping
Mar 2, 2026Kunlin Xie, Chenghao Li, Haolan Zhang +1Safe Robot Manipulation Robotic Grasping
The authors are with the School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa 923-1292, Japan

Sep 17, 2026J/K move · Enter open · S save

Coding Agents with Harness for Safe Robot Control

Bingxin Xu, Yuzhang Shang, Zhen Dong, Emilio Ferrara

USC · UCF · UCSB

Robot Safety Robotic Manipulation Safe Motion Planning Robot Collision Avoidance Safe Robot Manipulation

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Coding agents have emerged as a promising paradigm for robot manipulation: a language model writes the robot controller as a program, and agents built in this way now operate robots without robot-specific training. Whether this paradigm is also safe, however, has not been asked. We evaluate coding agents under a safety constraint, where each task pairs a manipulation goal with an obstacle the robot must not touch. The agent pursues the goal but collides with the obstacle in most cases, treating task completion as its sole objective. The agent reasons about the obstacle in its traces, and the prompt already forbids touching it, so neither perception nor instruction is at fault; the fault lies in the planning, where the stated constraint never becomes a priority. By decomposing manipulation into a route phase and a contact-rich moment, we locate the source of the failure. Along the route, the model cannot prioritize the safety constraint, having no notion of a clearing route and none of replanning once a chosen route becomes infeasible. At the contact, it is unaware that contact execution is bounded by the same constraint. To close this gap, we present SafeHarness, which equips the model with two obstacle-aware harnesses. Obstacle-aware route planning grounds the objects as bounding boxes and draws candidate routes over them as sequences of waypoints. The agent then plans a route in advance, verifies it, replans when necessary, and only then executes it. Obstacle-aware contact execution instead selects the contact position so that the contact itself avoids the obstacle. SafeHarness attains 81.2% task success and 91.9% collision avoidance with GPT-6-Astra, surpassing the previous SOTA by 13.7 and 23.0 points, and the same agent without harnesses by 31.2 and 57.5 points, respectively.